You don't program anything.
The sensor gets a different reading from either side because of the minor size difference in tyres.
The ESP system which normally compensates for a sudden change in rotation speed now gets confused because it's constantly getting a dodgy reading and therefore puts the car into safe mode.
yes, thats the simple answer. But we're on higher grade logic here. Where we can see the flaws in the simple answers.
Of course, cars dont often drive in a straight line, so one wheel is always going a different speed to the other. Hello differentials.
So given time (e.g. one day of driving), you will not find a 2 second piece of data when you can reliably say one wheel is bigger than the other. Even if you measure steering angle at that point in time.
So I still call bull****
The sensor may well say one wheel is 1mm smaller than the other, but it had no way of knowing you werent just doing 120km/h on the highway on a very very gentle bend. Or that you just hit a patch of dirt with one wheel while pulling off, spinning one wheel 2 times more than the other.
So you have no reliable data to work from.
Ok, lets try it with all 4 wheels, and try solve for the smallest/incorrect wheel.
Any ideas on how we can do this?
Problem here is...damn ice/gravel/snow making all wheels spin at different speeds at any given moment, throwing all our lovely careful laboratory observations out of the window.
So for a dire dire situation where limp home mode is called for (that is a dire situation, isnt it? the vehicle is trying to protect itself), we would need some data that we can seriously rely on, in all situations. I cannot see a source of data to work from that is reliable enough to detect one tyre being slightly smaller than the other (...we're not talking diffent inches, or a different profile...the chap was talking about 5000km of wear. Which will be about half a millimetre)
Iemand praat ***.
edit: just realised my tone sounds confrontational, whereas that isnt how I feel when writing this. I'm trying to open a discussion on how this can be achieved, imagine we are all at bootcamp for bmw and they come up with this problem and ask for a way to detect it
cool